This paper is a step towards a realization of a new way of controlling the ordinary traffic at urban intersections. The right of way is addressed to each vehicle individually, according to an optimized sequence. The paper aims to deepen the feasibility issue of a protocol dedicated to human drivers (ordinary vehicles). The proposed protocol is tested through a realistic intersection where vehicles are safely directed through the intersection. The implementation has raised some issues related to wireless communication and positioning systems. These issues are discussed and solutions are given for controlling particular intersections in urban area.